Hi Patrick,
yes the P matrix is symmetric, and you are right that this property
should be use to optimize the code. This would also aid numerical
stability.
Which ahrs-kalman code are you referring to exactly?
Cheers, Felix
On Fri, Mar 18, 2011 at 12:45 AM, Todd Sandercock
<address@hidden> wrote:
Koders is getting source from the old CVS right??? Try pulling the latest
source off of the GIT
Todd
________________________________
From: Patrick McColl <address@hidden>
To: address@hidden
Sent: Fri, 18 March, 2011 9:46:37 AM
Subject: [Paparazzi-devel] Problems with ahrs Kalman
Hi,
I'm using the ahrs-Kalman code (paparazzi3 version from koders..com) on
a
board of my own design. The board uses Rabbit BL4100 microprocessor
board
and Analog Devices ADIS16364 gyro/accelerometer and Micromag3 magnetic
sensors.
The code works fine with small movements but turns unstable after a
minute
(or so) when I move the board simulating a normal flight.
Has anybody experience the same problem? Is there any way to fix it?
While debugging I noticed that the P matrix is symmetric all the time. Is
this correct?
If so, the code can be optimized by calculating only half the matrix and
just filling the other half with the calculated values.
Thanks,
Patrick
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